Reference Manual

PMAC/PMAC2 Software Reference Manual
iv Table of Contents
Ix58 Motor x Integrated Current Limit......................................................................................................93
Ix59 Motor x User-Written Servo/Phase Enable .......................................................................................94
Ix60 Motor x Servo Cycle Period Extension .............................................................................................95
Ix61 Motor x Current Loop Integral Gain {PMAC2 only} .......................................................................95
Ix62 Motor x Current Loop Proportional Gain (Forward Path) {PMAC2 only}.......................................96
Ix63 Motor x Integration Limit..................................................................................................................96
Ix64 Motor x Deadband Gain Factor.........................................................................................................97
Ix65 Motor x Deadband Size.....................................................................................................................98
Ix66 Motor x PWM Scale Factor {PMAC2 only}.....................................................................................98
Ix67 Motor x Linear Position Error Limit .................................................................................................98
Ix68 Motor x Friction Feedforward ...........................................................................................................99
Ix69 Motor x Output Command Limit.......................................................................................................99
Commutation I-Variables .................................................................................................................................102
Ix70 Motor x Number of Commutation Cycles (N) ................................................................................102
Ix71 Motor x Encoder Counts per N Commutation Cycles.....................................................................102
Ix72 Motor x Commutation Phase Angle ................................................................................................103
Ix73 Motor x Phase Finding Output Value..............................................................................................104
Ix74 Motor x Phase Finding Time...........................................................................................................104
Ix75 Motor x Power-On Phase Position Offset .......................................................................................105
Ix76 Motor x Velocity Phase Advance Gain {PMAC(1) Only}..............................................................107
Ix76 Motor x Current-Loop Proportional Gain (Back Path) {PMAC2 only}..........................................107
Ix77 Motor x Induction Motor Magnetization Current............................................................................107
Ix78 Motor x Induction Motor Slip Gain.................................................................................................108
Ix79 Motor x Second Phase Offset ..........................................................................................................109
Ix80 Motor x Power-Up Mode ................................................................................................................109
Ix81 Motor x Power-Up Phase Position Address ....................................................................................111
Ix82 Current loop Feedback Address {PMAC2 only} ............................................................................116
Ix83 Motor x Ongoing Phasing Position Address ...................................................................................117
Ix84 Current-Loop Feedback Mask Word {PMAC2 only}.....................................................................118
Further Motor I-Variables................................................................................................................................119
Ix85 Motor x Backlash Take-up Rate......................................................................................................119
Ix86 Motor x Backlash Size ....................................................................................................................119
Coordinate System x I-Variables...........................................................................................................................120
Ix87 Coordinate System x Default Program Acceleration Time .............................................................120
Ix88 Coordinate System x Default Program S-Curve Time ....................................................................121
Ix89 Coordinate System x Default Program Feedrate/Move Time..........................................................122
Ix90 Coordinate System x Feedrate Time Units......................................................................................122
Ix91 Coordinate System x Default Working Program Number...............................................................123
Ix92 Coordinate System x Move Blend Disable......................................................................................123
Ix93 Coordinate System x Time Base Control Register Address............................................................123
Ix94 Coordinate System x Time Base Slew Rate ....................................................................................124
Ix95 Coordinate System x Feed Hold Slew Rate.....................................................................................125
Ix96 Coordinate System x Circle Error Limit..........................................................................................125
Ix97 (Reserved for Future Use) ...............................................................................................................126
Ix98 Coordinate System x Maximum Feedrate .......................................................................................126
Ix99 (Reserved for Future Use) ...............................................................................................................126
PMAC(1) Encoder/Flag Setup I-Variables............................................................................................................126
I900, I905, ..., I975 Encoder n Decode Control “Encoder I-Variable 0” {PMAC(1) Only}.......................126
I901, I906, ..., I976 Encoder n Filter Disable “Encoder I-Variable 1” {PMAC(1) Only}...........................128
I902, I907, ..., I977 Encoder n Position Capture Control “Encoder I-Variable 2” {PMAC(1) Only}.........128
I903, I908, ..., I978 Encoder n Flag Select Control Encoder I-Variable 3 {PMAC(1) only}......................130
I904, I909, .., I979 – (Reserved for Future Use) {PMAC(1) only}..............................................................130
PMAC2 Encoder/Flag/Output Setup I-Variables ..................................................................................................131
Global / Multi-Channel ASIC I-Variables ........................................................................................................131
I900 MaxPhase and PWM 1-4 Frequency Control {PMAC2 only}........................................................131
I901 Phase Clock Frequency Control {PMAC2 only} ............................................................................132